Control of the coupled double pendulums system

Problems of excitation and synchronization of oscillations are considered in two coupled double pendulum mechatronic system. Hardware, data exchange interface and software for laboratory experiments and control are described. Pulse-modulated control law for oscillation excitation/synchronization is obtained via the speed-gradient method. Laboratory experiments are used for verification and parameter estimation of the adopted mathematical model. Comparison results of the simulations and laboratory experiments for excitation and synchronization analysis are given. (c) 2005 Elsevier Ltd. All rights reserved.